This is kept for legacy reasons and to understand what was done in the past ...

After the installation of yakut the command pyuavcan is no longer available.

Install pyuavcan

• Install libatlas sudo apt-get install libatlas-base-dev
• python3 is already installed, link to python 3
• update pip pip3 install —upgrade pip get the latest version of pyuavcan directly from its github repository and install it.

git clone https://github.com/UAVCAN/pyuavcan
cd pyuavcan
python3 -m pip install .

This should install the pyuavcan including pyuavcan-cli in /home/pi/.local/bin.

To access pyuavcan easily the path should be added to PATH. On raspbian this is done by default. Otherwise update $PATH in .profile and add the line:

$PATH="$PATH:/home/pi/.local/bin"

Generate DSDL:

cd ~
pyuavcan dsdl-gen-pkg https://github.com/UAVCAN/public_regulated_data_types/archive/master.zip

Send test string:

pyuavcan publish uavcan.diagnostic.Record.1.0 '{"text": "Hello world!"}' --tr='CAN(can.media.socketcan.SocketCANMedia("vcan0",8),59)'

59 is the node number and can be changed to any desired value.

The text string should be visable in a second window running candump.

Now the installation of pyuavcan is finished.

commands

publish disgnostic record

pyuavcan

pyuavcan publish uavcan.diagnostic.Record.1.0 '{"text": "Hello world!"}' --tr='CAN(can.media.socketcan.SocketCANMedia("vcan0",8),59)'

yakut

yakut --transport='CAN(can.media.socketcan.SocketCANMedia("vcan0",8),59)' publish uavcan.diagnostic.Record.1.0 '{"text": "Hello world!"}'

subscribe heartbeat

pyuavcan

pyuavcan sub uavcan.node.Heartbeat.1.0 -M --tr='CAN(can.media.socketcan.SocketCANMedia("can0",8),59)'

yakut

yakut --transport='CAN(can.media.socketcan.SocketCANMedia("can0",8),59)' sub uavcan.node.Heartbeat.1.0

publish to Subject-ID

pyuavcan

pyuavcan pub 1620.uavcan.primitive.scalar.Bit.1.0 'value: true' --tr='CAN(can.media.socketcan.SocketCANMedia("can0",8),59)'

yakut

yakut -i 'CAN(can.media.socketcan.SocketCANMedia("can0",8),59)' pub 1620.uavcan.primitive.scalar.Bit.1.0 'value: true'

subscribe to Subject-ID

pyuavcan

pyuavcan sub 1624.uavcan.primitive.scalar.Bit.1.0 -M --tr='CAN(can.media.socketcan.SocketCANMedia("can0",8),59)'

yakut

yakut -i 'CAN(can.media.socketcan.SocketCANMedia("can0",8),59)' sub 1624.uavcan.primitive.scalar.Bit.1.0